CN109502050B - Unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system - Google Patents
Unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system Download PDFInfo
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- CN109502050B CN109502050B CN201811514538.9A CN201811514538A CN109502050B CN 109502050 B CN109502050 B CN 109502050B CN 201811514538 A CN201811514538 A CN 201811514538A CN 109502050 B CN109502050 B CN 109502050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Abstract
The invention relates to an unmanned plane rotor wing integral static balance and bidirectional dynamic balance test system, which belongs to the unmanned plane technical field, and comprises: frame base portion, total distance adjustment portion, rotor drive portion, quiet balance detection portion, pulling force dynamic balance detection portion, thrust dynamic balance detection portion and collection record portion, wherein: the frame base part fixes the system; the total distance adjusting part is used for adjusting the tension of the rotor wing; the rotor driving part is used for driving the rotor to rotate at a high speed; the static balance detection part is used for detecting the centrifugal force of the rotor hub and the rotor blades on the rotor shaft to obtain the integral static balance characteristic; the tension dynamic balance detection part and the thrust dynamic balance detection part are respectively used for detecting alternating aerodynamic moment of the rotor blade on the rotor shaft under tension and thrust states; the acquisition and recording part is used for acquiring and recording and processing static balance data and dynamic balance data in real time. The invention can accurately detect the integral static balance characteristic of the rotor hub and the rotor blade and the tension and thrust bidirectional dynamic balance characteristic of the rotor blade in real time.
Description
Technical Field
The invention relates to an unmanned aerial vehicle rotor wing integral static balance and bidirectional dynamic balance test system which is used for detecting the dynamic balance of rotor blades of an unmanned aerial vehicle and can accurately and safely detect the dynamic balance characteristics of the rotor blades in real time. The method is mainly applied to the technical fields of aerospace, unmanned aerial vehicles and the like.
Background
Rotor imbalance is a major source of vibration in rotor-type vertical take-off and landing aircraft such as helicopters, multi-rotor aircraft, and the like. Rotors are typically composed of a plurality of blades, and there may be some difference in centrifugal and aerodynamic forces of each blade. In the case of high-speed rotation of the rotor, the above-mentioned centrifugal force and aerodynamic force differences generate alternating loads on the rotor shaft, which are manifested as static unbalance and dynamic unbalance. Static and dynamic unbalance phenomena not only cause vibration and noise of the aircraft, but also reduce flight performance, handling quality and service life. In order to eliminate the above phenomenon, it is necessary to perform the static balance and dynamic balance analysis of the rotor.
Most of the existing static balance analysis works on weighing and barycenter of the blade under static conditions. Due to the influence of measuring equipment and modes, the static balance analysis precision is limited, and the rotating working state of the rotor wing cannot be truly reflected. In addition, rotor hubs may also have static imbalance. In this case, even if the blades reach equilibrium under static conditions, the overall static imbalance may result from being mounted within the static imbalance rotor hub.
At present, most of dynamic balance analysis is to measure the moving track of the rotor tip of a rotor shaft in a tension state under the condition that the rotor blade rotates at a high speed so as to detect the dynamic balance of a rotor. The blade tip plane characteristics are not completely direct reflection of the blade aerodynamic force because the blade tip motion trail is the result of the combined action of aerodynamic force, centrifugal force, gravity, blade deflection and other factors.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: in order to overcome the defects in the prior art, the invention provides an unmanned aerial vehicle rotor wing integral static balance and bidirectional dynamic balance test system.
The technical scheme adopted for solving the technical problems is as follows: an unmanned aerial vehicle rotor overall static balance and two-way dynamic balance test system contains: frame base portion, total distance adjustment portion, rotor drive portion, quiet balance detection portion, dynamic balance detection portion and collection record portion, wherein:
a frame base portion comprising: an upper panel, a lower panel and a support column assembly which is positioned between the upper panel and the lower panel and plays a supporting role; the lower panel contains a securing means for securely securing the entire system to the ground.
A collective pitch adjustment unit includes: steering wheel mount pad, steering wheel, total distance rocking arm, supporting seat, total distance slider and displacement pull rod; one end of the steering engine is fixedly connected or rotationally connected and is arranged on the upper panel through a steering engine mounting seat, and the other end of the steering engine is rotationally connected with the total distance rocker arm; the steering engine can deflect an angle or change the length so as to drive the total distance rocker arm to deflect; the other end of the collective pitch rocker arm is connected with the collective pitch sliding block, the upper end of the supporting seat is rotationally connected with the middle part of the collective pitch rocker arm, and a fulcrum is formed at the joint; the lower end of the supporting seat is connected to the upper panel and used for supporting the total distance rocker arm; the total distance rocker arm adopts a lever principle, a fulcrum is rotationally connected with a supporting seat, one end of the total distance rocker arm is rotationally connected with the steering engine, and the other end of the total distance rocker arm is connected with the total distance sliding block; the supporting seat is used for supporting the fulcrum of the collective pitch rocker arm.
The total distance rocker arm comprises a rocker arm body, a first U-shaped arm used for being connected with a steering engine is arranged at one end of the rocker arm body, and a second U-shaped arm used for being connected with a total distance sliding block is arranged at the other end of the rocker arm body; the upper end of the steering engine is positioned at the inner side of the first U-shaped arm and is rotationally connected with the first U-shaped arm through a rotating shaft; the total distance sliding block is located on the inner side of the second U-shaped arm and is connected with the second U-shaped arm in a rotating mode through a rotating shaft.
The total distance sliding block is divided into an upper part and a lower part which are rotationally connected through a bearing; the lower part does not rotate around the rotor shaft, is connected with the collective pitch rocker arm and can slide up and down along the rotor shaft; the upper part and the rotor shaft synchronously rotate, and the upper part is sequentially connected with the variable-pitch pull rod and the rotor hub and is used for synchronously changing the pitch angle of the rotor blade.
The support seat comprises a support block and support arms, the lower end of the support block is connected with the upper panel, and the upper end of the support block is connected with two support arms which are oppositely arranged; the front side and the rear side of the supporting block between the two supporting arms are respectively provided with an avoidance inclined plane. The supporting block is integrally connected with the supporting arm.
A rotor driving unit includes: the rotor hub comprises a driving motor, a coupler, a rotor shaft, a tension positioning shaft sleeve, a centrifugal shaft sleeve, a thrust positioning shaft sleeve and a rotor hub; the driving motor is arranged in the middle of the lower panel, is connected with the rotor shaft through a coupler and allows the rotor shaft to generate a certain degree of angular offset and axial offset; the rotor shaft passes through the tension positioning shaft sleeve, the centrifugal shaft sleeve and the thrust positioning shaft sleeve and then is connected with the rotor hub; the tension positioning shaft sleeve is connected with the rotor shaft through an internal bearing; the tension positioning shaft sleeve can keep a fixed axial position on the rotor shaft and can bear the maximum tension of the rotor hub; the thrust positioning shaft sleeve is connected with the rotor shaft through an internal bearing; the thrust positioning shaft sleeve can keep a fixed axial position on the rotor shaft and can bear the maximum thrust of the rotor hub; the outer part of the centrifugal force shaft sleeve is connected with the centrifugal force sensor base; the inside of the centrifugal force shaft sleeve is connected with the rotor shaft through a bearing and can bear the maximum centrifugal force of the rotor shaft; the bottom surface of the driving motor is connected with the lower panel.
A static balance detection unit comprises: an angular displacement sensor group, a static balance stress sensor group and a centrifugal force sensor base; the angular displacement sensor is arranged on the rotor shaft and is used for detecting the azimuth angle psi and the angular speed omega of the rotor hub, and the calculation formula is as follows:
ω＝f(Δψ/ΔT)，
wherein ω is calculated by the angular displacement sensor in each sampling period Δt, and f is a filtering algorithm used, including but not limited to first-order filtering, second-order filtering, smoothing filtering, IIR filtering, etc.; and has the following components:
the static balance stress sensor group consists of a plurality of static balance stress sensors distributed and arranged between the centrifugal force sensor base and the upper panel and is used for detecting the horizontal stress of the centrifugal force shaft sleeve on the upper panel; at least 1 static balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each static balance stress sensor is psi s ＝[Ψ s1 ,Ψ s2 ,...,Ψ sN ] T The distance from the axis of the rotor shaft is r s ＝[r s1 ,r s2 ,...,r sN ] T Horizontal force F detected at time t s (t)＝[F s1 (t),F s2 (t),...,F sN (t)] T Wherein N is the number of the static balance stress sensors; the more the static balance stress sensors are, the higher the measurement precision is;
the centrifugal force sensor base is arranged on the outer side of the centrifugal force shaft sleeve, and the upper panel is sleeved on the outer side of the centrifugal force sensor base; the static balance stress sensor group is arranged between the upper panel and the centrifugal force sensor base; the outer side wall of the centrifugal force sensor base is circumferentially provided with first stress planes the same as the static balance stress sensors in number; the upper panel is provided with a mounting hole for mounting the centrifugal force sensor base; second stress surfaces which are in one-to-one correspondence with the first stress planes are arranged on the inner side walls of the mounting holes along the circumferential direction; the static balance stress sensor is arranged between the first stress plane and the second stress plane and is rigidly connected with the first stress plane and the second stress plane.
A dynamic balance detection unit comprises: dynamic balance pulling force sensor group, tension sensor base, dynamic balance thrust sensor group and thrust sensor base, wherein:
the dynamic balance tension sensor group consists of a plurality of dynamic balance stress sensors which are horizontally distributed and arranged between a tension sensor base and the upper panel and are used for detecting the vertical tension of the rotor hub and the tension sensor base to the upper panel; at least 1 dynamic balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each dynamic balance stress sensor is psi L ＝[Ψ L1 ,Ψ L2 ,...,Ψ LS ] T The distance from the axis of the rotor shaft is r L ＝[r L1 ,r L2 ,...,r LN ] T Vertical force F detected at arbitrary time t L (t)＝[F L1 (t),F L2 (t),...,F LN (t)] T Wherein N is the number of dynamic balance stress sensors; the more dynamic balance stress sensors, the higher the measurement accuracy.
The dynamic balance thrust sensor group consists of a plurality of dynamic balance stress sensors which are horizontally distributed and arranged between a thrust sensor base and the upper panel and are used for detecting the vertical thrust of the rotor hub and the thrust sensor base to the upper panel; at least 1 dynamic balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each dynamic balance stress sensor is psi U ＝[Ψ U1 ,Ψ U2 ,...,Ψ US ] T The distance from the axis of the rotor shaft is r U ＝[r U1 ,r U2 ,...,r US ] T Vertical force F detected at arbitrary time t U (t)＝[F U1 (t),F U2 (t),...,F US (t)] T Wherein S is the number of dynamic balance stress sensors; the more the dynamic balance stress sensorThe more, the higher the measurement accuracy;
the tension sensor base and the push sensor base are oppositely arranged on the upper side and the lower side of the upper panel, the tension sensor base is connected with the tension positioning shaft sleeve, and the push sensor base is connected with the push positioning shaft sleeve.
The acquisition and recording part comprises a data processing unit and a data recorder, wherein the data processing unit is connected with the balance detection part and is used for acquiring data of the stress sensor group and the angular displacement sensor in real time so as to acquire data samples such as stress, azimuth angle, angular velocity and the like; the data processing unit is also connected with the data recorder and used for recording the data sample in the data recorder in real time for offline analysis; the data processing unit can also be connected with an upper computer, and the data samples are transmitted to the upper computer in real time for online analysis.
Under the condition that the rotor hub and the rotor blades are in static balance, centrifugal forces of the rotor hub and the rotor blades rotating at high speed cancel each other out, and alternating stress is not generated on the centrifugal force sensor base; under the condition that the rotor hub and the rotor blades are unbalanced, the rotor hub and the rotor blades rotating at high speed generate centrifugal force in the horizontal direction and sequentially act on the rotor shaft, the centrifugal force shaft sleeve and the centrifugal force sensor base; the static balance stress sensor group detects the stress on the centrifugal force shaft sleeve through the static balance stress sensor, and the stress T borne by the rotor hub in real time can be obtained hub And azimuth angle psi hub The data and the calculation formula are as follows:
wherein T and psi T Respectively the amplitude and azimuth angle of resultant force detected by the static balance stress sensor group, T y And T x The components of the resultant force T along the x-axis and the y-axis, F i Sum phi i Respectively detecting stress and installation azimuth angle K of each static balance stress sensor 1 Is a proportionality coefficient.
Under the condition of rotor blade dynamic balance, the aerodynamic moment between rotor blades rotating at high speed tends to zero, and alternating force and moment can not be generated on the rotor shaft, the tension positioning shaft sleeve, the tension sensor base, the thrust positioning shaft sleeve and the thrust sensor base; under the unbalanced condition of rotor blade dynamic, can produce the air-engaging moment between the rotor blade of high-speed rotation, and then right rotor shaft, pulling force location axle sleeve, tension sensor base, thrust location axle sleeve and thrust sensor base produce alternating force and moment, wherein:
when the rotor shaft is in a tension state, the dynamic balance tension sensor group calculates an aerodynamic moment mean value of the rotor hub by detecting alternating stress on the tension sensor base, and the aerodynamic moment mean value is as follows:
wherein,and->Dynamic balance stress sensor i=1, respectively, N maximum and minimum stresses detected; because of the rotor blade aerodynamic moment +>And aerodynamic moment M Li Corresponding to larger rotor blades, M Li And->Corresponding to the above; thus according to->And azimuth angle psi A The correspondence of (t) makes it possible to determine the aerodynamic moment M Li Oversized rotor blade, thereby being capable of purposefully developing rotor blade dynamic balance adjustment workAnd (3) doing so.
Under the condition that the rotor shaft is in a thrust state, the dynamic balance thrust sensor group calculates an aerodynamic moment mean value of the rotor hub by detecting alternating stress on the thrust sensor base, and the aerodynamic moment mean value is as follows:
wherein,and->Dynamic balance stress sensor i=1, respectively, S, detecting the maximum stress and the minimum stress; because of the rotor blade aerodynamic moment +>And aerodynamic moment M Ui Corresponding to larger rotor blades, M Ui And->Corresponding to the above; thus according to->And azimuth angle psi A The correspondence of (t) makes it possible to determine the aerodynamic moment M Ui And the rotor blade is larger, so that the dynamic balance adjustment work of the rotor blade can be performed in a targeted manner.
The action process of the test system:
the driving motor drives the rotor shaft to rotate, so that the rotor hub and the rotor blades synchronously rotate, and the pitch angle of the rotor blades is adjusted through the steering engine in the rotation process: when the steering engine moves downwards, the steering engine drives the collective pitch rocker arm to rotate around the fulcrum, so that the other end of the collective pitch rocker arm rises, the collective pitch sliding block is driven to slide upwards along the rotor shaft, and meanwhile, the variable pitch pull rod is driven to move upwards and simultaneously pushes the rotor hub to deflect around the variable pitch hinge of the rotor hub, so that the pitch angle of the rotor blade and the corresponding aerodynamic force are increased; when the steering engine moves upwards, the steering engine drives the collective pitch rocker arm to reversely rotate around the fulcrum, so that the other end of the collective pitch rocker arm descends, the collective pitch sliding block is driven to slide downwards along the rotor shaft, and meanwhile, the variable pitch pull rod is driven to move downwards and simultaneously, the rotor hub is driven to deflect around the variable pitch hinge of the rotor hub, so that the pitch angle of the rotor blade and the corresponding aerodynamic force are reduced; when the pitch angle is positive, the rotor aerodynamic force is expressed as a pulling force on the frame base portion; when the pitch angle is negative, the rotor aerodynamic force acts as a thrust force against the frame base portion.
In the whole dynamic test process, the angular displacement sensor measures azimuth angles of the rotor shaft and the rotor hub in real time; the dynamic balance tension sensor group detects the vertical tension of the tension sensor base to the upper panel in real time, the dynamic balance thrust sensor group detects the vertical thrust of the thrust sensor base to the upper panel in real time, and the static balance stress sensor group detects the horizontal centrifugal force of the centrifugal force sensor base to the upper panel in real time.
The test and optimization flow of the unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system is as follows:
1) One rotor blade is selected as a reference blade a, and at time t, the azimuth angle of the reference blade a is ψ A (t)；
2) The rotor driving part is started without installing rotor blades, the rotor hub and the rotor blades are accelerated to rated rotation speed, and stress on the centrifugal force shaft sleeve is detected through a static balance stress sensor, so that the stress T borne by the rotor hub in real time is obtained hub And azimuth angle psi hub Data;
3) According to T hub 、ψ hub And psi is equal to A (T) determining and adjusting the static balance characteristics of the rotor hub, repeating the test a plurality of times until T hub The variation of the rotor hub reaches the design requirement, and the static balance of the rotor hub is realized;
4) The rotor blade is installed, the rotor driving part is started, the rotor hub and the rotor blade are accelerated to the rated rotation speed, the stress on the centrifugal force shaft sleeve is detected through the static balance stress sensor, and the real-time stress borne by the rotor hub is obtainedT hub And azimuth angle psi hub Data;
5) According to T hub 、ψ hub And psi is equal to A (T) determining and adjusting the static balance characteristics of the rotor blade, repeating the test a plurality of times until T hub The variation of the rotor blade reaches the design requirement, and the integral static balance of the rotor hub and the rotor blade is realized;
6) The rotor blade is installed, the rotor driving part is started, the rotor hub and the rotor blade are accelerated to the rated rotation speed, the collective pitch adjusting part is started, the collective pitch is adjusted to be within a positive design range, the collective pitch is properly adjusted according to design requirements, and the maximum stress of any stress sensor i=1Minimum stress->And psi is equal to A (t) correspondence;
7) Calculation ofAccording to->And azimuth angle psi A (t) determining and adjusting the aerodynamic moment M i Oversized rotor blade, repeated tests until +.>The variation of the rotor blade reaches the design requirement, and the dynamic balance of the rotor blade in a tension state is realized;
8) The rotor blade is installed, the rotor driving part is started, the rotor hub and the rotor blade are accelerated to the rated rotation speed, the collective pitch adjusting part is started, the collective pitch is adjusted to be within a negative design range, the collective pitch is properly adjusted according to design requirements, and the maximum stress of any stress sensor i=1Minimum stress->And psi is equal to A (t) correspondence;
9) Calculation ofAccording to->And azimuth angle psi A (t) determining and adjusting the aerodynamic moment M Ui Oversized rotor blade, repeated tests until +.>The variation of the rotor blade reaches the design requirement, and the dynamic balance of the rotor blade in the thrust state is realized;
10 The overall static balance and the tension-thrust bidirectional dynamic balance test adjustment of the rotor hub and the rotor blades are finished.
The rotor hub and the centrifugal force difference of the rotor hub and the rotor blades can be detected by analyzing alternating stress born by the centrifugal force sensor base and the corresponding relation of the centrifugal force sensor base, the azimuth angle, the angular speed and the time, so that static balance quantitative detection data of the rotor hub and the rotor blades are obtained; on the basis, the rotor hub and the rotor blades can be adjusted in a targeted manner, so that the overall static balance is realized.
By analyzing alternating stress born by the tension sensor base and the corresponding relation with azimuth angle, angular speed and time, the aerodynamic moment difference among different rotor blades can be detected when the rotor shaft is in a tension state, and dynamic balance quantitative detection data of the rotor blades can be obtained; on the basis, the relevant rotor blades can be adjusted in a targeted manner, and dynamic balance under a tensile state is achieved.
By analyzing alternating stress born by the thrust sensor base and the corresponding relation with azimuth angle, angular speed and time, the aerodynamic moment difference among different rotor blades can be detected when the rotor shaft is in a thrust state, and dynamic balance quantitative detection data of the rotor blades can be obtained; on the basis, the relevant rotor blades can be adjusted in a targeted manner, so that dynamic balance under the thrust state is realized.
The beneficial effects of the invention are as follows: according to the system for testing the overall static balance and the bidirectional dynamic balance of the rotor wing of the unmanned aerial vehicle, provided by the invention, the centrifugal stress of the rotor hub in the horizontal plane can be accurately and real-timely detected by adopting the static balance stress sensor group; by adopting the dynamic balance tension sensor group and the dynamic balance thrust sensor group, the aerodynamic force difference of each rotor blade can be accurately detected in real time; the aerodynamic force of the rotor blade and the vertical direction can be adjusted in real time by adopting the total distance adjusting part; by adopting the angular displacement sensor, the azimuth angle and the angular speed of the rotor blade can be accurately detected in real time; by comparing and analyzing the centrifugal stress, azimuth angle and angular speed of the rotor hub, the static balance level of the rotor hub and the integral static balance level of the rotor hub and the rotor blades can be accurately analyzed; by adopting the dynamic balance tension sensor group and the dynamic balance thrust sensor group, the dynamic balance characteristics of the rotor blade can be tested when the rotor shaft is in a thrust state and a tension state; by comparing and analyzing the aerodynamic forces, azimuth angles, and angular velocities of the individual rotor blades, the rotor blade dynamic balance level can be accurately analyzed. The invention has the advantages that: the method has the advantages of accurate measurement, simplicity, intuition and good instantaneity, and is suitable for the overall static balance of the rotor hub and the rotor blades and the dynamic balance test and adjustment of the rotor in the two states of tension and thrust.
Drawings
The invention is further described below with reference to the drawings and examples.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system.
Fig. 2 is a side view of an unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system.
Figure 3 is a perspective view of the test system (without rotor blades).
Fig. 4 is a plan view of the positional relationship of the stress sensor group, the sensor mount and the positioning sleeve.
Fig. 5 is a schematic structural view of the collective rocker arm.
Fig. 6 is a schematic structural view of the collective slider.
Fig. 7 is a schematic structural view of the support base.
FIG. 8 is an oblique view of the positional relationship of the sensor package, sensor mount and positioning sleeve.
Fig. 9 is a system architecture diagram of an unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system.
Fig. 10 is a schematic diagram of an unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system for measuring aerodynamic torque of a rotor under a tensile state.
Fig. 11 is a schematic diagram of an unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system measuring the aerodynamic moment of the rotor under thrust.
Figure 12 is a representative test flow diagram of an unmanned aerial vehicle rotor overall static balance and bi-directional dynamic balance test system.
In the figure: an upper panel 1b, a support column assembly 1c, a lower panel 2, a driving motor 3, a coupler 4, a rotor shaft 5a, a tension positioning sleeve 5b, a thrust positioning sleeve 6a, a tension sensor base 6b, a thrust sensor base 7a, a dynamic balance tension sensor group 7a01, a dynamic balance stress sensor 7a02, a dynamic balance stress sensor 7a03, a dynamic balance stress sensor 7a04, a dynamic balance thrust sensor group 7b01, a dynamic balance stress sensor 7b02, a dynamic balance stress sensor 7b03, a dynamic balance stress sensor 7b04, an angular displacement sensor 8, a static balance stress sensor group 9, A centrifugal force sensor base 92, centrifugal force sleeve 901, static balance force sensor 902, static balance force sensor 903, static balance force sensor 904, static balance force sensor 10, data processing unit 11, data logger 12, collective slider 1201, upper 1202, lower 1203, tie rod support arm 13, pitman 14, rotor hub 15, rotor blade 1601, steering engine mount 1602, steering engine 1603, collective rocker arm 1603a, first U-shaped arm 1603b, second U-shaped arm 1603c, rocker arm body 1604, support base 1604a, support block 1604b, support arm 1604c, relief ramp 18, foot 19, fixed orifice.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. The figure is a simplified schematic diagram illustrating the basic structure of the invention only by way of illustration, and therefore it shows only the constitution related to the invention.
As shown in fig. 1-4, the system for testing overall static balance and bidirectional dynamic balance of an unmanned aerial vehicle rotor wing disclosed by the invention comprises a frame base part, a total distance adjusting part, a rotor wing driving part, a static balance detecting part, a dynamic balance detecting part and an acquisition recording part, wherein:
a frame base portion comprising: an upper panel 1a, a lower panel 1c and a support column assembly 1b which is positioned between the upper panel and the lower panel and plays a supporting role; the lower panel 1c contains fixing means for firmly fixing the whole system to the ground; in this embodiment, the support column assembly 1b adopts four upright posts to form rectangular distribution, the lower panel 1c at the position corresponding to the upright posts is further provided with a foundation 18, and the foundation 18 is provided with a fixing hole 19 for connecting with the ground.
A collective pitch adjustment unit includes: steering engine mount 1601, steering engine 1602, collective arm 1603, support 1604, collective slider 12, and pitch change tie rod 13; one end of the steering engine 1602 is fixedly connected or rotationally connected, and is arranged on the upper panel 1a through a steering engine mounting seat 1601, and the other end of the steering engine 1602 is rotationally connected with the total distance rocker arm 1603; the steering engine 1602 is capable of deflecting or changing length to drive the collective arm 1603 to deflect; the collective pitch rocker 1603 adopts the lever principle, the fulcrum is rotationally connected with the supporting seat 1604, one end is rotationally connected with the steering engine 1602, and the other end is connected with the collective pitch slide block 12; the support base 1604 is for supporting a fulcrum of the collective rocker arm 1603.
As shown in fig. 5, the collective rocker 1603 includes a rocker body 1603c, one end of the rocker body 1603c is provided with a first U-shaped arm 1603a for connecting with the steering engine 1602, and the other end is provided with a second U-shaped arm 1603b for connecting with the collective slider 12; the upper end of the steering engine 1602 is positioned at the inner side of the first U-shaped arm 1603a and is rotationally connected with the first U-shaped arm 1603a through a rotating shaft; the collective slider 12 is located inside the second U-shaped arm 1603b and is rotatably connected to the second U-shaped arm 1603b through a rotation shaft.
As shown in FIG. 6, collective slider 12 is divided into an upper portion 1201 and a lower portion 1202 and is rotatably connected by a bearing; wherein the lower part 1202 does not rotate around the rotor shaft 4, and the lower part 1202 is connected with the collective swing arm 1603 and can slide up and down along the rotor shaft 4; the upper part 1201 rotates in synchronism with the rotor shaft 4; upper portion 1201 is in turn coupled to pitch links 13 and rotor hub 14 for simultaneously changing the pitch angle of rotor blades 15; two pairs of pull rod supporting arms 1203 are symmetrically arranged on the side wall of the upper part 1201 and are rotatably supported at the bottom of the variable-pitch pull rod 13.
As shown in fig. 7, the support base 1604 includes a support block 1604a and a support arm 1604b, and the support block 1604a and the support arm 1604b are integrally connected; the lower end of the supporting block 1604a is connected with the upper panel 1a, and the upper end is connected with two supporting arms 1604b which are oppositely arranged; the two support arms 1604b and the support block 1604a form a U-shaped mounting groove, and the fulcrum of the collective pitch rocker 1603 is positioned in the U-shaped mounting groove; the front and rear of the support block 1604a between the two support arms 1604b are provided with avoidance slopes 1604c; the back and forth relief ramp 1604c forms the support block 1604a into a trapezoidal or triangular cross section with a narrow top and a wide bottom for the moment arm 1603 to prevent collision when pivoting about a fulcrum.
A rotor driving unit includes: a drive motor 2, a coupling 3, a rotor shaft 4, a pull positioning hub 5a, a centrifugal hub 92, a thrust positioning hub 5b, and a rotor hub 14; the driving motor 2 is connected with the rotor shaft 4 through a coupler 3 and allows the rotor shaft 4 to generate a certain degree of angular offset and axial offset; the rotor shaft 4 passes through the pull positioning shaft sleeve 5a, the centrifugal shaft sleeve 92 and the push positioning shaft sleeve 5b and then is connected with the rotor hub 14; the tension positioning shaft sleeve 5a is connected with the rotor shaft 4 through an internal bearing, and the tension positioning shaft sleeve 5a can keep a fixed axial position on the rotor shaft 4 and can bear the maximum tension of the rotor hub 14; the thrust positioning shaft sleeve 5b is connected with the rotor shaft 4 through an internal bearing, and the thrust positioning shaft sleeve 5b can keep a fixed axial position on the rotor shaft 4 and can bear the maximum thrust of the rotor hub 14; the outside of the centrifugal force shaft sleeve 92 is connected with the centrifugal force sensor base 91, and the inside of the centrifugal force shaft sleeve 92 is connected with the rotor shaft 4 through a bearing and can bear the maximum centrifugal force of the rotor shaft 4; the method comprises the steps of carrying out a first treatment on the surface of the The bottom surface of the driving motor 2 is connected to the lower panel 1c.
As shown in fig. 8, the static balance detection unit includes: an angular displacement sensor 8 and a static balance stress sensor group 9; the angular displacement sensor 8 consists of a movable ring and a stationary ring; the movable ring is connected with the rotor shaft 4, and the stationary ring is connected with the centrifugal force sensor base 91; the angular displacement sensor 8 is configured to detect an azimuth angle ψ and an angular velocity ω of the rotor hub 14, and the calculation formula is:
ω＝f(Δψ/ΔT)，
wherein ω is calculated by the angular displacement sensor 8 during each sampling period Δt, and f is a filtering algorithm used, including but not limited to first order filtering, second order filtering, smoothing filtering, IIR filtering, etc.; and has the following components:
the static balance stress sensor group 9 is composed of a plurality of static balance stress sensors 901, 902, 903, 904 distributed and arranged between the centrifugal force sensor base 91 and the upper panel 1a, and is used for detecting horizontal stress of the centrifugal force shaft sleeve 92 on the upper panel 1 a; at least 1 static balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each static balance stress sensor is psi s ＝[Ψ s1 ,Ψ s2 ,...,Ψ sN ] T The distance from the axis of the rotor shaft 4 is r s ＝[r s1 ,r s2 ,...,r sN ] T Horizontal force F detected at time t s (t)＝[F s1 (t),F s2 (t),...,F sN (t)] T Wherein N is the number of the static balance stress sensors; the more the static balance stress sensor is, the higher the measurement accuracy is.
A dynamic balance detection unit comprises: a dynamic balance tension sensor group 7a and a dynamic balance thrust sensor group 7b, wherein:
the dynamic balance tension sensor group 7a is composed of a plurality of dynamic balance stress sensors 7a01, 7a02, 7a03 which are horizontally distributed and arranged between a tension sensor base 6a and the upper panel 1a,7a04 for detecting the vertical tension of said rotor hub 14 and tension sensor mount 6a to said upper panel 1 a; at least 1 dynamic balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each dynamic balance stress sensor is psi L ＝[Ψ L1 ,Ψ L2 ,...,Ψ LS ] T The distance from the axis of the rotor shaft 4 is r L ＝[r L1 ,r L2 ,...,r LN ] T Vertical force F detected at arbitrary time t L (t)＝[F L1 (t),F L2 (t),...,F LN (t)] T Wherein N is the number of dynamic balance stress sensors; the more dynamic balance stress sensors 7a01, 7a02, 7a03, 7a04, the higher the measurement accuracy;
the dynamic balance thrust sensor group 7b is composed of a plurality of dynamic balance stress sensors 7b01, 7b02, 7b03, 7b04 which are horizontally distributed and arranged between a thrust sensor base 6b and the upper panel 1a, and is used for detecting the vertical thrust of the rotor hub 14 and the thrust sensor base 6b to the upper panel 1 a; at least 1 dynamic balance stress sensor is provided, and a plurality of distribution modes can be adopted; the installation azimuth angle of each dynamic balance stress sensor is psi U ＝[Ψ U1 ,Ψ U2 ,...,Ψ US ] T The distance from the axis of the rotor shaft 4 is r U ＝[r U1 ,r U2 ,...,r US ] T Vertical force F detected at arbitrary time t U (t)＝[F U1 (t),F U2 (t),...,F US (t)] T Wherein N is the number of dynamic balance stress sensors; the more dynamic balance stress sensors 7b01, 7b02, 7b03, and 7b04, the higher the measurement accuracy.
The acquisition and recording part comprises a data processing unit 10 and a data recorder 11, wherein the data processing unit 10 is connected with the balance detection part and is used for acquiring data of the stress sensor group and the angular displacement sensor 8 in real time so as to acquire data samples such as stress, azimuth angle, angular speed and the like; the data processing unit 10 is further connected to the data recorder 11, and is configured to record the data samples in the data recorder 11 in real time for offline analysis; the data processing unit 10 may also be connected to an upper computer, and transmits the data samples to the upper computer in real time for online analysis.
In the case of static balancing of the rotor hub 14 and the rotor blades 15, the centrifugal forces of the rotor hub 14 and the rotor blades 15 rotating at high speed cancel each other out, and no alternating stress is generated to the centrifugal force sensor mount 91; in case of static unbalance of the rotor hub 14 and the rotor blades 15, the rotor hub 14 and the rotor blades 15 rotating at high speed generate centrifugal forces in the horizontal direction and act on the rotor shaft 4 and the centrifugal force sensor seat 91; centrifugal force sleeve 92; the static balance stress sensor group 9 detects the stress on the rotor shaft sleeve through the static balance stress sensor, and can obtain the stress T borne by the rotor hub 14 in real time hub And azimuth angle psi hub The data and the calculation formula are as follows:
wherein T and psi T Respectively the amplitude and azimuth angle of resultant force detected by the static balance stress sensor group 9, T y And T x The components of the resultant force T along the x-axis and the y-axis, F i Sum phi i Respectively detecting stress and installation azimuth angle K of each static balance stress sensor 1 Is a proportionality coefficient.
Under the condition that the rotor blades 15 are dynamically balanced, the aerodynamic moment between the rotor blades 15 rotating at high speed tends to zero, and alternating force and moment cannot be generated on the rotor shaft 4, the tension positioning shaft sleeve 5a, the tension sensor base 6a, the thrust positioning shaft sleeve 5b and the thrust sensor base 6 b; under the condition that the rotor blades 15 are unbalanced, an aerodynamic moment is generated between the rotor blades 15 rotating at a high speed, and alternating forces and moments are generated on the rotor shaft 4, the tension positioning sleeve 5a, the tension sensor base 6a, the thrust positioning sleeve 5b and the thrust sensor base 6b, wherein:
when the rotor shaft 4 is in a tension state, the dynamic balance tension sensor group 7a calculates an aerodynamic moment average value of the rotor hub 14 by detecting alternating stress on the tension sensor base 6a, where the aerodynamic moment average value is:
wherein,and->Dynamic balance stress sensor i=1, respectively, N maximum and minimum stresses detected; due to the aerodynamic moment of the rotor blade 15 +.>And aerodynamic moment M Li The larger rotor blade 15 corresponds to, and M Li And->Corresponding to the above; thus according to->And azimuth angle psi A The correspondence of (t) makes it possible to determine the aerodynamic moment M Li The rotor blade 15 is oversized, so that the dynamic balance adjustment of the rotor blade 15 can be performed in a targeted manner.
In the thrust state of the rotor shaft 4, the dynamic balance thrust sensor group 7b calculates the mean value of the aerodynamic moment of the rotor hub 14 by detecting the alternating stress on the thrust sensor base 6b as follows:
wherein,and->Dynamic balance stress sensor i=1, respectively, S, detecting the maximum stress and the minimum stress; due to the aerodynamic moment of the rotor blade 15 +.>And aerodynamic moment M Ui The larger rotor blade 15 corresponds to, and M Ui And->Corresponding to the above; thus according to->And azimuth angle psi A The correspondence of (t) makes it possible to determine the aerodynamic moment M Ui The rotor blade 15 is oversized, so that the dynamic balance adjustment of the rotor blade 15 can be performed in a targeted manner.
As shown in fig. 9-11, the test and optimization flow of the unmanned plane rotor overall static balance and bidirectional dynamic balance test system is as follows:
1) One rotor blade 15 is selected as reference blade a, which has azimuth angle ψ at time t A (t)；
2) The rotor driving part is started without installing the rotor blade 15, the rotor hub 14 and the rotor blade 15 are accelerated to the rated rotation speed, and the stress on the centrifugal force shaft sleeve 92 is detected by the static balance stress sensors 901, 902, 903 and 904, so that the real-time stress T borne by the rotor hub 14 is obtained hub And azimuth angle psi hub Data;
3) According to T hub 、ψ hub And psi is equal to A (T) determining and adjusting the static balance characteristics of rotor hub 14, repeating the test a plurality of times until T hub The variation of (2) meets the design requirement, and the static balance of the rotor hub 14 is realized;
4) The rotor blade 15 is mounted, the rotor driving section is started, the rotor hub 14 and the rotor blade 15 are accelerated to a rated rotational speed, the stress on the centrifugal force bushing 92 is detected by the static balance stress sensors 901, 902, 903, 904,resulting in a real-time stress T to which rotor hub 14 is subjected hub And azimuth angle psi hub Data;
5) According to T hub 、ψ hub And psi is equal to A (T) determining and adjusting the static balance characteristics of rotor blade 15, repeating the test a plurality of times until T hub The variation of (2) meets the design requirement, and the integral static balance of the rotor hub 14 and the rotor blades 15 is realized;
6) The rotor blade 15 is installed, the rotor driving part is started, the rotor hub 14 and the rotor blade 15 are accelerated to rated rotation speed, the collective pitch adjusting part is started, the collective pitch is adjusted to be within a positive design range, the collective pitch is properly adjusted according to design requirements, and the maximum stress of any stress sensor i=1Minimum stress->And psi is equal to A (t) correspondence;
7) Calculation ofAccording to->And azimuth angle psi A (t) determining and adjusting the aerodynamic moment M i The test is repeated a number of times with a larger rotor blade 15 until +.>The variation of (2) meets the design requirement, and the dynamic balance of the rotor blade 15 in a tensile state is realized;
8) The rotor blade 15 is installed, the rotor driving part is started, the rotor hub 14 and the rotor blade 15 are accelerated to rated rotation speed, the collective pitch adjusting part is started, the collective pitch is adjusted to be within a negative design range, and is properly adjusted according to design requirements, and the maximum stress of any stress sensor i=1Minimum stress->And psi is equal to A (t) correspondence;
9) Calculation ofAccording to->And azimuth angle psi A (t) determining and adjusting the aerodynamic moment M Ui The test is repeated a number of times with a larger rotor blade 15 until +.>The variation of (2) reaches the design requirement, and the dynamic balance of the rotor blade 15 in the thrust state is realized;
10 The overall static balance and the tension-thrust bi-directional dynamic balance test adjustment of rotor hub 14-rotor blades 15 is completed.
By analyzing the alternating stress born by the centrifugal force sensor base 91 and the corresponding relation with the azimuth angle, the angular speed and the time, the rotor hub 14 and the centrifugal force difference between the rotor hub 14 and the rotor blades 15 can be detected, and the static balance quantitative detection data of the rotor hub 14 and the rotor blades 15 can be obtained; on the basis, the relevant rotor hub 14 and the rotor blades 15 can be adjusted in a targeted manner, so that the overall static balance is realized.
By analyzing the alternating stress born by the tension sensor base 6a and the corresponding relation with the azimuth angle, the angular speed and the time, the aerodynamic moment difference between different rotor blades 15 can be detected when the rotor shaft 4 is in a tension state, and the dynamic balance quantitative detection data of the rotor blades 15 can be obtained; on the basis, the relevant rotor blades 15 can be adjusted in a targeted manner, so that dynamic balance in a tensile state is realized.
By analyzing the alternating stress born by the thrust sensor base 6b and the corresponding relation with the azimuth angle, the angular speed and the time, the aerodynamic moment difference between different rotor blades 15 can be detected when the rotor shaft 4 is in a thrust state, and the dynamic balance quantitative detection data of the rotor blades 15 can be obtained; on the basis, the relevant rotor blades 15 can be adjusted in a targeted manner, so that dynamic balance in a thrust state is realized.
The invention can accurately detect the centrifugal stress of the rotor hub 14 in the horizontal plane in real time by adopting the static balance stress sensor group 9; by comparatively analyzing the centrifugal stress, azimuth angle, and angular velocity of rotor hub 14, the static balance level of rotor hub 14, and the overall static balance level of rotor hub 14 and rotor blades 15, can be accurately analyzed; by adopting the dynamic balance tension sensor group 7a, the aerodynamic force difference of each rotor blade 15 can be accurately detected in real time when the rotor shaft 4 is in a tension state; by adopting the dynamic balance thrust sensor group 7b, the aerodynamic force difference of each rotor blade 15 can be accurately detected in real time when the rotor shaft 4 is in a thrust state; by comparative analysis of aerodynamic forces, azimuth angles, and angular velocities of each rotor blade 15, the rotor blade 15 dynamic balance level can be accurately analyzed; by employing collective pitch adjustment, the aerodynamic force magnitude and direction of rotor blade 15 can be adjusted in real time; by employing the angular displacement sensor 8, the azimuth angle and angular velocity of the rotor blade 15 can be accurately detected in real time. The invention has the advantages that: the measurement is accurate, simple and visual, the real-time performance is good, and the device is suitable for the overall static balance of the rotor hub 14 and the rotor blades 15 and the bidirectional dynamic balance test and adjustment of the rotor in the tensile force state and the thrust state.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. An unmanned aerial vehicle rotor overall static balance and two-way dynamic balance test system, its characterized in that: the method comprises the following steps: frame base portion, total distance adjustment portion, rotor drive portion, quiet balance detection portion, dynamic balance detection portion and collection record portion, wherein:
a frame base portion comprising: an upper panel, a lower panel and a support column assembly positioned between the upper panel and the lower panel for supporting; the lower panel comprises a fixing device for fixing the whole system;
a collective pitch adjustment unit includes: steering wheel mount pad, steering wheel, total distance rocking arm, supporting seat, total distance slider and displacement pull rod; one end of the steering engine is fixedly connected or rotationally connected and is arranged on the upper panel through a steering engine mounting seat, and the other end of the steering engine is rotationally connected with the total distance rocker arm; the other end of the collective pitch rocker arm is connected with the collective pitch sliding block; the upper end of the supporting seat is rotationally connected with the middle part of the total distance rocker arm, and a fulcrum is formed at the joint; the lower end of the supporting seat is connected to the upper panel and used for supporting the total distance rocker arm; the total distance sliding block is divided into an upper part and a lower part, and the upper part and the lower part are rotationally connected through a bearing; the lower part does not rotate around the rotor shaft, is connected with the collective pitch rocker arm and can slide up and down along the rotor shaft; the upper part rotates synchronously with the rotor shaft, and the upper part is sequentially connected with the variable-pitch pull rod and the rotor hub and is used for synchronously changing the pitch angle of the rotor blades;
a rotor driving unit includes: the rotor hub comprises a driving motor, a coupler, a rotor shaft, a tension positioning shaft sleeve, a centrifugal shaft sleeve, a thrust positioning shaft sleeve and a rotor hub; the bottom surface of the driving motor is fixed on the lower panel, and an output shaft of the driving motor is connected with one end of the rotor shaft through a coupler; the other end of the rotor shaft sequentially passes through the tension positioning shaft sleeve, the centrifugal shaft sleeve and the thrust positioning shaft sleeve and is connected with the lower end of the rotor hub; the upper end of the rotor hub is connected with rotor blades; the tension positioning shaft sleeve is connected with the rotor shaft through an internal bearing; the tension positioning shaft sleeve can keep a fixed axial position on the rotor shaft and can bear the maximum tension of the rotor hub; the thrust positioning shaft sleeve is connected with the rotor shaft through an internal bearing; the thrust positioning shaft sleeve can keep a fixed axial position on the rotor shaft and can bear the maximum thrust of the rotor hub; the outer part of the centrifugal force shaft sleeve is connected with the centrifugal force sensor base; the inside of the centrifugal force shaft sleeve is connected with the rotor shaft through a bearing and can bear the maximum centrifugal force of the rotor shaft;
a static balance detection unit comprises: angular displacement sensor, quiet balanced stress sensor group and centrifugal force sensor base, wherein: the angular displacement sensor is arranged on the rotor shaft and is used for detecting the azimuth angle and the angular speed of the rotor hub; the centrifugal force sensor base is arranged on the outer side of the centrifugal force shaft sleeve, and the upper panel is sleeved on the outer side of the centrifugal force sensor base; the static balance stress sensor group is arranged between the upper panel and the centrifugal force sensor base and is used for detecting the horizontal stress of the centrifugal force shaft sleeve on the upper panel;
a dynamic balance detection unit comprises: dynamic balance pulling force sensor group, tension sensor base, dynamic balance thrust sensor group and thrust sensor base, wherein: the tension sensor base and the push sensor base are oppositely arranged on the upper side and the lower side of the upper panel, the tension sensor base is connected with the tension positioning shaft sleeve, and the push sensor base is connected with the push positioning shaft sleeve; the dynamic balance tension sensor group is arranged between the tension sensor base and the upper panel and is used for detecting the vertical tension of the rotor hub and the tension sensor base to the upper panel; the dynamic balance thrust sensor group is arranged between the thrust sensor base and the upper panel and is used for detecting the vertical thrust of the rotor hub and the thrust sensor base to the upper panel;
an acquisition recording section including a data processing unit and a data recorder, wherein: the data processing unit is connected with the balance detection part and is used for collecting data of the dynamic balance tension sensor group, the dynamic balance thrust sensor group and the angular displacement sensor in real time so as to obtain data samples formed by stress, azimuth angle and angular speed; the data processing unit is also connected with the data recorder and used for recording the data sample in the data recorder in real time for offline analysis;
the data processing unit is connected with the upper computer and is used for transmitting the data samples to the upper computer in real time for online analysis;
the static balance stress sensor group comprises at least one static balance stress sensor; the outer side wall of the centrifugal force sensor base is circumferentially provided with first stress planes the same as the static balance stress sensors in number; the upper panel is provided with mounting holes for mounting the centrifugal force sensor base, and second stress surfaces which are in one-to-one correspondence with the first stress planes are arranged on the inner side walls of the mounting holes along the circumferential direction; the static balance stress sensor is arranged between the first stress plane and the second stress plane and is rigidly connected with the first stress plane and the second stress plane.
2. The unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system of claim 1, wherein: the total distance rocker arm comprises a rocker arm body, a first U-shaped arm used for being connected with a steering engine is arranged at one end of the rocker arm body, and a second U-shaped arm used for being connected with a total distance sliding block is arranged at the other end of the rocker arm body; the upper end of the steering engine is positioned at the inner side of the first U-shaped arm and is rotationally connected with the first U-shaped arm through a rotating shaft; the total distance sliding block is located on the inner side of the second U-shaped arm and is connected with the second U-shaped arm in a rotating mode through a rotating shaft.
3. The unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system of claim 1, wherein: the dynamic balance tension sensor group comprises at least one dynamic balance stress sensor; the dynamic balance stress sensors are distributed along the circumferential direction of the tension sensor base; the dynamic balance thrust sensor group comprises at least one dynamic balance stress sensor, and the dynamic balance stress sensors are distributed along the circumferential direction of the thrust sensor base.
4. The unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system of claim 3, wherein: the tension sensor base and the push sensor base have the same structure and comprise a base body; the middle part of the base body is provided with a shaft sleeve mounting hole; the outer edge of the base body is provided with a plurality of supporting arms extending outwards along the circumferential direction, and the number of the supporting arms is the same as that of corresponding side dynamic balance stress sensors respectively; the dynamic balance stress sensors are arranged on the supporting arms in a one-to-one correspondence mode.
5. The unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system of claim 1, wherein: the support seat comprises a support block and support arms, the lower end of the support block is connected with the upper panel, and the upper end of the support block is connected with two support arms which are oppositely arranged; the front side and the rear side of the supporting block between the two supporting arms are respectively provided with an avoidance inclined plane.
6. The unmanned aerial vehicle rotor overall static balance and bidirectional dynamic balance test system of claim 5, wherein: the supporting block is integrally connected with the supporting arm.
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